gtsam  4.1.0
gtsam
gtsam::AttitudeFactor Class Reference
+ Inheritance diagram for gtsam::AttitudeFactor:

Public Member Functions

 AttitudeFactor ()
 default constructor - only use for serialization
 
 AttitudeFactor (const Unit3 &nZ, const Unit3 &bRef=Unit3(0, 0, 1))
 Constructor. More...
 
Vector attitudeError (const Rot3 &p, OptionalJacobian< 2, 3 > H=boost::none) const
 vector of errors
 
const Unit3nZ () const
 
const Unit3bRef () const
 
template<class ARCHIVE >
void serialize (ARCHIVE &ar, const unsigned int)
 

Protected Attributes

Unit3 nZ_
 
Unit3 bRef_
 Position measurement in.
 

Friends

class boost::serialization::access
 Serialization function.
 

Constructor & Destructor Documentation

◆ AttitudeFactor()

gtsam::AttitudeFactor::AttitudeFactor ( const Unit3 nZ,
const Unit3 bRef = Unit3(0, 0, 1) 
)
inline

Constructor.

Parameters
nZmeasured direction in navigation frame
bRefreference direction in body frame (default Z-axis in NED frame, i.e., [0; 0; 1])

The documentation for this class was generated from the following files: